getDigitalInputs()

Description

Get the digital inputs object.

Relevant Objects

Object 60FD_h: Digital inputs

Syntax

uint32_t getDigitalInputs();

Parameters

None.

Return Value

Return the value of the digital inputs object:

Comment

This function must be called after a successful execution of EthercatMaster::begin(). This function is non-blocking and can be called in callback functions if the related object is mapped to PDO.

Example Code

#include "Ethercat.h" 

EthercatMaster master; 
EthercatDevice_CiA402 motor;

void setup() {
  Serial.begin(115200);
  while (!Serial);
  master.begin();
  
  motor.attach(0, master);
  master.start();
} 

void loop() {
  Serial.print("Digital Inputs: "); 
  Serial.println(motor.getDigitalInputs());
  delay(1000); 
  // ... 
}

Please see the EtherCAT CiA 402 User Manual for more QEC EtherCAT instructions and API usage.